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arXiv · 2507.19100

Monocular Vision-Based Swarm Robot Localization Using Equilateral Triangular Formations

Taewon Kang·Ji-Wook Kwon·Il Bae·Jin Hyo Kim
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Abstract

Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in fully open spaces, without landmarks or support from positioning infrastructures. To achieve this, we propose a localization method based on equilateral triangular formations. By leveraging the geometric properties of equilateral triangles, the accurate two-dimensional position of each participating robot is estimated using one-dimensional lateral distance information between robots, which can be reliably and accurately obtained with a low-cost monocular vision sensor. Experimental and simulation results demonstrate that, as travel time increases, the positioning error of the proposed method becomes significantly smaller than that of a conventional dead-reckoning system, another low-cost localization approach applicable to open environments.

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Taewon Kang, Ji-Wook Kwon, Il Bae, Jin Hyo Kim. 2025-07-25. Monocular Vision-Based Swarm Robot Localization Using Equilateral Triangular Formations. https://doi.org/10.3390/machines13080667

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